Task planning using physics-based heuristics on manipulation actions
Document typeConference report
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessOpen Access
In order to solve mobile manipulation problems, the efficient combination of task and motion planning is usually required. Moreover, the incorporation of physics-based information has recently been taken into account in order to plan the tasks in a more realistic way. In the present paper, a task and motion planning framework is proposed based on a modified version of the Fast-Forward task planner that is guided by physics-based knowledge. The proposal uses manipulation knowledge for reasoning on symbolic literals (both in offline and online modes) taking into account geometric information in order to evaluate the applicability as well as feasibility of actions while evaluating the heuristic cost. It results in an efficient search of the state space and in the obtention of low-cost physically-feasible plans. The proposal has been implemented and is illustrated with a manipulation problem consisting of a mobile robot and some fixed and manipulatable objects.
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CitationAkbari, A., Bashiruddin , M., Rosell, J. Task planning using physics-based heuristics on manipulation actions. A: IEEE International Conference on Emerging Technologies and Factory Automation. "21th IEEE Conference on Emerging Technologies and Factory Automation (ETFA): September 6-9, 2016, Berlin". Berlin: Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 1-8.